#ifndef __POSITION__H
#define __POSITION__H

#include "incl.h"

#define 		A_ERRER						0xF9
#define 		A_DATA						0xFA
#define 		A_RESET						0xFB
#define 		A_SETYAW					0xFC
#define 		A_SETDIS					0xFD

#define 		Action_useUart						&huart6
#define 		RaspberryPi_useUart				&huart1


typedef struct{
	uint8_t step;
	uint8_t cnt;
	uint8_t buff[32];
	uint8_t rxlen;
}AcRxTemp_t;

typedef union{
	float f;
	uint8_t u8[sizeof(float)];	
}fl_u8_t;

void Action_init(void);
void Comm_tx_uint16(UART_HandleTypeDef *huart, uint8_t fun, uint16_t data);
void Comm_tx(UART_HandleTypeDef *huart, uint8_t fun, uint8_t *data, uint8_t datalen);

//机器人位置结构体
extern uint8_t rx_data;
extern float py_angle;
#endif

/******************* (C) COPYRIGHT 2023 FUYEBING *****END OF FILE************/
